A robust trajectory tracking control of industrial robot manipulators using fuzzy logic

Abstract

The paper proposes the design of a controller for trajectory tracking of robot manipulators using fuzzy logic. The proposed controller is based on an integration of conventional control and fuzzy logic. To illustrate its performance, the proposed controller is applied to the trajectory tracking of a two degree of freedom robot arm. Computer simulations show good properties of the proposed controller.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>